Prosper Van / Mbed 2 deprecated quadCommand2

added gy80 dcm

Dependencies:   mbed DCM_AHRS_GY80 PID MMA8451Q

Fork of quadCommand by Greg Abdo

quadCommand/quadCommand.cpp@51:60258b84ebab, 2013-06-10 (annotated)

Committer:
gabdo
Date:
Mon Jun 10 05:57:47 2013 +0000
Revision:
51:60258b84ebab
Parent:
50:197a18e49eb4
Child:
52:24590a45b807
Working with PID

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gabdo 0:8681037b9a18 1 /************************ quadCommand.cpp ********************************/
gabdo 0:8681037b9a18 2 /* */
gabdo 0:8681037b9a18 3 /*************************************************************************/
gabdo 0:8681037b9a18 4
gabdo 0:8681037b9a18 5 #include "quadCommand.h"
dereklmc 32:3d180aa938ba 6 #include "debug.h"
gabdo 0:8681037b9a18 7
dereklmc 17:d73944c3c945 8 quadCommand::quadCommand() :
dereklmc 17:d73944c3c945 9 pidThrottle(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD),
dereklmc 17:d73944c3c945 10 pidPitch(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD),
dereklmc 17:d73944c3c945 11 pidRoll(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD),
dereklmc 17:d73944c3c945 12 pidYaw(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD)
gabdo 0:8681037b9a18 13 {
gabdo 49:f202fb0d4128 14 motorProcess.attach(this, &quadCommand::updateMotors, MOTOR_UPDATE/1000);
gabdo 51:60258b84ebab 15 sensorProcess.attach( this, &quadCommand::updateCurrent, SENSSOR_DELAY/1000 );
gabdo 51:60258b84ebab 16 // sendProcess.attach( this, &quadCommand::sendTelemetry, SEND_DELAY/1000 );
gabdo 50:197a18e49eb4 17
gabdo 50:197a18e49eb4 18 myCom = new com( TXPIN, RXPIN ); // Setup com object.
gabdo 50:197a18e49eb4 19 world = new sensors(); // Setup the sensors.
gabdo 43:e2fc699e8e8c 20
gabdo 50:197a18e49eb4 21 myMotors[0] = new motor( MOTOR1 ); // Connect motor 0 to PTD4 pin.
gabdo 50:197a18e49eb4 22 myMotors[1] = new motor( MOTOR2 ); // Connect motor 1 to PTA12 pin.
gabdo 50:197a18e49eb4 23 myMotors[2] = new motor( MOTOR3 ); // Connect motor 2 to PTA4 pin.
gabdo 50:197a18e49eb4 24 myMotors[3] = new motor( MOTOR4 ); // Connect motor 3 to PTA5 pin.
gabdo 45:088885f4a13d 25
gabdo 45:088885f4a13d 26 targetThrottle = currentThrottle = 0;
gabdo 45:088885f4a13d 27 targetPitch = currentPitch = 0;
gabdo 45:088885f4a13d 28 targetRoll = currentRoll = 0;
gabdo 45:088885f4a13d 29 targetYaw = currentYaw = 0;
gabdo 0:8681037b9a18 30 }
gabdo 0:8681037b9a18 31
gabdo 9:9e0d0ba5b6b1 32 /******************************* run() ***********************************/
oprospero 26:826448361267 33 /* Called from main */
gabdo 9:9e0d0ba5b6b1 34 /*************************************************************************/
gabdo 9:9e0d0ba5b6b1 35
gabdo 0:8681037b9a18 36 void quadCommand::run()
gabdo 0:8681037b9a18 37 {
gabdo 0:8681037b9a18 38 while(1)
gabdo 43:e2fc699e8e8c 39 {
oprospero 26:826448361267 40 if( myCom->isData() )
gabdo 51:60258b84ebab 41 rxInput();
gabdo 0:8681037b9a18 42 }
gabdo 0:8681037b9a18 43 }
gabdo 0:8681037b9a18 44
gabdo 9:9e0d0ba5b6b1 45 /***************************** rxInput() *********************************/
oprospero 26:826448361267 46 /*Call from run() */
gabdo 9:9e0d0ba5b6b1 47 /*************************************************************************/
gabdo 9:9e0d0ba5b6b1 48
gabdo 0:8681037b9a18 49 void quadCommand::rxInput()
gabdo 0:8681037b9a18 50 {
gabdo 0:8681037b9a18 51 short * command = myCom->read();
gabdo 0:8681037b9a18 52
gabdo 0:8681037b9a18 53 if( command[0] == 1 ) // Throttle command.
gabdo 9:9e0d0ba5b6b1 54 targetThrottle = command[1];
gabdo 0:8681037b9a18 55
gabdo 0:8681037b9a18 56 if( command[0] == 2 ) // Pitch command.
gabdo 9:9e0d0ba5b6b1 57 targetPitch = command[1];
gabdo 0:8681037b9a18 58
gabdo 0:8681037b9a18 59 if( command[0] == 3 ) // Roll command.
gabdo 9:9e0d0ba5b6b1 60 targetRoll = command[1];
gabdo 0:8681037b9a18 61
gabdo 0:8681037b9a18 62 if( command[0] == 4 ) // Yaw command.
gabdo 9:9e0d0ba5b6b1 63 targetYaw = command[1];
gabdo 12:15d129d681e9 64
gabdo 12:15d129d681e9 65 delete[] command;
dereklmc 8:72791d8c36b7 66 }
dereklmc 8:72791d8c36b7 67
gabdo 9:9e0d0ba5b6b1 68 /*************************** updateMotors() ******************************/
oprospero 26:826448361267 69 /*Called in main by motorprocess */
gabdo 9:9e0d0ba5b6b1 70 /*************************************************************************/
gabdo 9:9e0d0ba5b6b1 71
gabdo 49:f202fb0d4128 72 void quadCommand::updateMotors()
gabdo 49:f202fb0d4128 73 {
dereklmc 15:92ecb025fbc5 74 float throttle, pitch, roll, yaw;
dereklmc 15:92ecb025fbc5 75
dereklmc 15:92ecb025fbc5 76 throttle = pidThrottle.correct(currentThrottle, targetThrottle, MOTOR_UPDATE);
dereklmc 15:92ecb025fbc5 77 pitch = pidPitch.correct(currentPitch, targetPitch, MOTOR_UPDATE);
dereklmc 15:92ecb025fbc5 78 roll = pidRoll.correct(currentRoll, targetRoll, MOTOR_UPDATE);
dereklmc 15:92ecb025fbc5 79 yaw = 0.0; //pidYaw.correct(currentYaw, targetYaw, MOTOR_UPDATE);
dereklmc 32:3d180aa938ba 80
gabdo 49:f202fb0d4128 81 DEBUG(pc.printf("\r\n----------------------------------------\r\n");)
dereklmc 46:f1eb22f41ebc 82 DEBUG(pc.printf("cur : { t : %f, p : %f, r : %f, y : %f }\r\n", currentThrottle, currentPitch, currentRoll, 0.0);)
dereklmc 46:f1eb22f41ebc 83 DEBUG(pc.printf("tar : { t : %f, p : %f, r : %f, y : %f }\r\n", targetThrottle, targetPitch, targetRoll, 0.0);)
dereklmc 41:40e432c5cbe6 84 DEBUG(pc.printf("att : { t : %f, p : %f, r : %f, y : %f }\r\n", throttle, pitch, roll, yaw);)
gabdo 49:f202fb0d4128 85 DEBUG(pc.printf("\r\n----------------------------------------\r\n");)
dereklmc 15:92ecb025fbc5 86
dereklmc 46:f1eb22f41ebc 87 float speed0 = throttle + pitch - roll - yaw;
dereklmc 46:f1eb22f41ebc 88 float speed1 = throttle + pitch + roll + yaw;
dereklmc 46:f1eb22f41ebc 89 float speed2 = throttle - pitch + roll - yaw;
dereklmc 46:f1eb22f41ebc 90 float speed3 = throttle - pitch - roll + yaw;
dereklmc 33:4f62a7a46e71 91
dereklmc 41:40e432c5cbe6 92 DEBUG(pc.printf("motor : [ %f , %f , %f , %f ]\r\n", speed0, speed1, speed2, speed3);)
dereklmc 33:4f62a7a46e71 93
dereklmc 33:4f62a7a46e71 94 myMotors[ 0 ]->setSpeed(speed0); // Motor 1
dereklmc 33:4f62a7a46e71 95 myMotors[ 1 ]->setSpeed(speed1); // Motor 2
dereklmc 33:4f62a7a46e71 96 myMotors[ 2 ]->setSpeed(speed2); // Motor 3
dereklmc 33:4f62a7a46e71 97 myMotors[ 3 ]->setSpeed(speed3); // Motor 4
gabdo 40:8c01bf294768 98 }
gabdo 40:8c01bf294768 99
gabdo 40:8c01bf294768 100 /**************************** sendData() *********************************/
gabdo 40:8c01bf294768 101 /* */
gabdo 40:8c01bf294768 102 /*************************************************************************/
gabdo 40:8c01bf294768 103
gabdo 40:8c01bf294768 104 void quadCommand::sendTelemetry()
gabdo 40:8c01bf294768 105 {
gabdo 51:60258b84ebab 106 myCom->write( 2, (short)(currentPitch * 90) );
gabdo 51:60258b84ebab 107 myCom->write( 3, (short)(currentRoll * 90) );
gabdo 43:e2fc699e8e8c 108 }
gabdo 43:e2fc699e8e8c 109
gabdo 43:e2fc699e8e8c 110 /************************** updateCurrent() ******************************/
gabdo 43:e2fc699e8e8c 111 /* */
gabdo 43:e2fc699e8e8c 112 /*************************************************************************/
gabdo 43:e2fc699e8e8c 113
gabdo 43:e2fc699e8e8c 114 void quadCommand::updateCurrent()
gabdo 43:e2fc699e8e8c 115 {
gabdo 43:e2fc699e8e8c 116 currentPitch = world->getAbsoluteX();
gabdo 43:e2fc699e8e8c 117 currentRoll = world->getAbsoluteY();
gabdo 0:8681037b9a18 118 }